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Fleets Need a Context Plane: Rethinking Cooperative Perception for Autonomous Drones

arXiv · AI, language, vision and robotics · article · Sep 1, 2026 · UTC

Cooperative perception allows a drone fleet to combine observations from multiple viewpoints. However, existing systems typically fix their feature-sharing policies at design time or adapt to only one context signal. This is a poor fit for aerial fleets, whose missions, bandwidth, formation geometry, and scene coverage can change during flight. We quantify the cost of context-blind sharing on UAV3D by controlling feature exchange at evaluation time using a released DiscoNet checkpoint, without retraining. Mission-aware sharing matches full-sharing accuracy while using only 5-10% of the bytes.

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